Design and analysis of low cost upper limb exoskeleton

Abstract

This research describes the design, kinematic and dynamic model of upper limb exoskeleton. This exoskeleton is designed to assist elderly people or people who suffer from feebleness in their upper limbs. The proposed exoskeleton follows the user movement by using IMU sensors which are attached to user to measure the arm joint angles. In this paper, the kinematic and dynamic equations are described. Furthermore, Simulation program and experiments are carried out to evaluate and validate the performance of model and the real prototype. The results show a good tracking and performance for both model and real prototype.